fp@1142: /*****************************************************************************
fp@1142:  *
fp@1142:  * $Id$
fp@1142:  *
fp@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <iostream>
fp@1142: #include <iomanip>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandXml.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandXml::CommandXml():
fp@1142:     Command("xml", "Generate slave information XML.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: string CommandXml::helpString() const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1144:     str << getName() << " [OPTIONS]" << endl
fp@1142:         << endl
fp@1142:         << getBriefDescription() << endl
fp@1142:         << endl
fp@1142:         << "Note that the Pdo information can either originate" << endl
fp@1142:         << "from the SII or from the CoE communication area. For" << endl
fp@1144:         << "slaves, that support configuring Pdo assignment and" << endl
fp@1144:         << "mapping, the output depends on the last configuration." << endl
fp@1142:         << endl
fp@1142:         << "Command-specific options:" << endl
fp@1142:         << "  --slave -s <index>  Positive numerical ring position," << endl
fp@1142:         << "                      or 'all' for all slaves (default)." << endl
fp@1142:         << endl
fp@1142:         << numericInfo();
fp@1142: 
fp@1142:     return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: void CommandXml::execute(MasterDevice &m, const StringVector &args)
fp@1142: {
fp@1142:     m.open(MasterDevice::Read);
fp@1142: 
fp@1142:     if (slavePosition == -1) {
fp@1142:         unsigned int numSlaves = m.slaveCount(), i;
fp@1142: 
fp@1142:         for (i = 0; i < numSlaves; i++) {
fp@1142:             generateSlaveXml(m, i);
fp@1142:         }
fp@1142:     } else {
fp@1142:         generateSlaveXml(m, slavePosition);
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: void CommandXml::generateSlaveXml(MasterDevice &m, uint16_t slavePosition)
fp@1142: {
fp@1142:     ec_ioctl_slave_t slave;
fp@1142:     ec_ioctl_slave_sync_t sync;
fp@1142:     ec_ioctl_slave_sync_pdo_t pdo;
fp@1142:     string pdoType;
fp@1142:     ec_ioctl_slave_sync_pdo_entry_t entry;
fp@1142:     unsigned int i, j, k;
fp@1142:     
fp@1142:     m.getSlave(&slave, slavePosition);
fp@1142: 
fp@1142:     cout
fp@1142:         << "<?xml version=\"1.0\" ?>" << endl
fp@1142:         << "  <EtherCATInfo>" << endl
fp@1142:         << "    <!-- Slave " << slave.position << " -->" << endl
fp@1142:         << "    <Vendor>" << endl
fp@1142:         << "      <Id>" << slave.vendor_id << "</Id>" << endl
fp@1142:         << "    </Vendor>" << endl
fp@1142:         << "    <Descriptions>" << endl
fp@1142:         << "      <Devices>" << endl
fp@1142:         << "        <Device>" << endl
fp@1142:         << "          <Type ProductCode=\"#x"
fp@1142:         << hex << setfill('0') << setw(8) << slave.product_code
fp@1142:         << "\" RevisionNo=\"#x"
fp@1142:         << hex << setfill('0') << setw(8) << slave.revision_number
fp@1142:         << "\">" << slave.order << "</Type>" << endl;
fp@1142: 
fp@1142:     if (strlen(slave.name)) {
fp@1142:         cout
fp@1142:             << "          <Name><![CDATA["
fp@1142:             << slave.name
fp@1142:             << "]]></Name>" << endl;
fp@1142:     }
fp@1142: 
fp@1142:     for (i = 0; i < slave.sync_count; i++) {
fp@1142:         m.getSync(&sync, slavePosition, i);
fp@1142: 
fp@1142:         cout
fp@1142:             << "          <Sm Enable=\"" << dec << (unsigned int) sync.enable
fp@1142:             << "\" StartAddress=\"" << sync.physical_start_address
fp@1142:             << "\" ControlByte=\"" << (unsigned int) sync.control_register
fp@1142:             << "\" DefaultSize=\"" << sync.default_size
fp@1142:             << "\" />" << endl;
fp@1142:     }
fp@1142: 
fp@1142:     for (i = 0; i < slave.sync_count; i++) {
fp@1142:         m.getSync(&sync, slavePosition, i);
fp@1142: 
fp@1142:         for (j = 0; j < sync.pdo_count; j++) {
fp@1142:             m.getPdo(&pdo, slavePosition, i, j);
fp@1142:             pdoType = (sync.control_register & 0x04 ? "R" : "T");
fp@1142:             pdoType += "xPdo";
fp@1142: 
fp@1142:             cout
fp@1142:                 << "          <" << pdoType
fp@1142:                 << " Sm=\"" << i << "\" Fixed=\"1\" Mandatory=\"1\">" << endl
fp@1142:                 << "            <Index>#x"
fp@1142:                 << hex << setfill('0') << setw(4) << pdo.index
fp@1142:                 << "</Index>" << endl
fp@1142:                 << "            <Name>" << pdo.name << "</Name>" << endl;
fp@1142: 
fp@1142:             for (k = 0; k < pdo.entry_count; k++) {
fp@1142:                 m.getPdoEntry(&entry, slavePosition, i, j, k);
fp@1142: 
fp@1142:                 cout
fp@1142:                     << "            <Entry>" << endl
fp@1142:                     << "              <Index>#x"
fp@1142:                     << hex << setfill('0') << setw(4) << entry.index
fp@1142:                     << "</Index>" << endl;
fp@1142:                 if (entry.index)
fp@1142:                     cout
fp@1142:                         << "              <SubIndex>"
fp@1142:                         << dec << (unsigned int) entry.subindex
fp@1142:                         << "</SubIndex>" << endl;
fp@1142:                 
fp@1142:                 cout
fp@1142:                     << "              <BitLen>"
fp@1142:                     << dec << (unsigned int) entry.bit_length
fp@1142:                     << "</BitLen>" << endl;
fp@1142: 
fp@1142:                 if (entry.index) {
fp@1142:                     cout
fp@1142:                         << "              <Name>" << entry.name
fp@1142:                         << "</Name>" << endl
fp@1142:                         << "              <DataType>";
fp@1142: 
fp@1142:                     if (entry.bit_length == 1) {
fp@1142:                         cout << "BOOL";
fp@1142:                     } else if (!(entry.bit_length % 8)) {
fp@1142:                         if (entry.bit_length <= 64)
fp@1142:                             cout << "UINT" << (unsigned int) entry.bit_length;
fp@1142:                         else
fp@1142:                             cout << "STRING("
fp@1142:                                 << (unsigned int) (entry.bit_length / 8)
fp@1142:                                 << ")";
fp@1142:                     } else {
fp@1142:                         cerr << "Invalid bit length "
fp@1142:                             << (unsigned int) entry.bit_length << endl;
fp@1142:                     }
fp@1142: 
fp@1142:                         cout << "</DataType>" << endl;
fp@1142:                 }
fp@1142: 
fp@1142:                 cout << "            </Entry>" << endl;
fp@1142:             }
fp@1142: 
fp@1142:             cout
fp@1142:                 << "          </" << pdoType << ">" << endl;
fp@1142:         }
fp@1142:     }
fp@1142: 
fp@1142:     cout
fp@1142:         << "        </Device>" << endl
fp@1142:         << "     </Devices>" << endl
fp@1142:         << "  </Descriptions>" << endl
fp@1142:         << "</EtherCATInfo>" << endl;
fp@1142: }
fp@1142: /*****************************************************************************/